MDK-ARM/.vscode/keil-assistant.log

@@ -152,15 +152,3 @@
 
 [info] Log at : 2025/7/13|16:42:25|GMT+0800
 
-[info] Log at : 2025/7/13|22:38:15|GMT+0800
-
-[info] Log at : 2025/7/14|07:52:29|GMT+0800
-
-[info] Log at : 2025/7/14|12:31:22|GMT+0800
-
-[info] Log at : 2025/7/14|13:56:03|GMT+0800
-
-[info] Log at : 2025/7/16|22:15:00|GMT+0800
-
-[info] Log at : 2025/7/16|22:26:06|GMT+0800
-

MDK-ARM/.vscode/uv4.log

@@ -1,9 +1,18 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
-compiling ballTask.cpp...
+compiling userTask.c...
+compiling remote_control.c...
+compiling initTask.c...
+compiling main.c...
 compiling shootTask.cpp...
+compiling djiMotor.c...
+compiling nucTask.cpp...
+compiling encodeCan.cpp...
+compiling ballTask.cpp...
+compiling ball.cpp...
+compiling shoot.cpp...
 linking...
-Program Size: Code=31984 RO-data=1832 RW-data=272 ZI-data=32264  
+Program Size: Code=32032 RO-data=1832 RW-data=284 ZI-data=32268  
 FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:05
+Build Time Elapsed:  00:00:09

MDK-ARM/.vscode/uv4.log.lock

@@ -1 +1 @@
-2025/7/16 22:30:59
+2025/7/13 17:07:34

MDK-ARM/R1.uvoptx

@@ -155,9 +155,6 @@
       </TargetDriverDllRegistry>
       <Breakpoint/>
 <<<<<<< HEAD
-<<<<<<< HEAD
-=======
->>>>>>> 上层测试
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -172,43 +169,26 @@
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-<<<<<<< HEAD
           <ItemText>ball,0x0A</ItemText>
-=======
-          <ItemText>ball</ItemText>
->>>>>>> 上层测试
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-<<<<<<< HEAD
           <ItemText>nucbuf</ItemText>
-=======
-          <ItemText>and1</ItemText>
->>>>>>> 上层测试
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-<<<<<<< HEAD
           <ItemText>nuc_v</ItemText>
-=======
-          <ItemText>and1</ItemText>
->>>>>>> 上层测试
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-<<<<<<< HEAD
           <ItemText>abc,0x0A</ItemText>
-=======
-          <ItemText>nucbuf</ItemText>
->>>>>>> 上层测试
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-<<<<<<< HEAD
           <ItemText>shoot_wait,0x0A</ItemText>
         </Ww>
         <Ww>
@@ -218,11 +198,6 @@
         </Ww>
       </WatchWindow1>
 =======
->>>>>>> 上层测试
-=======
-          <ItemText>drop_message,0x0A</ItemText>
-        </Ww>
-      </WatchWindow1>
 >>>>>>> 上层测试
       <MemoryWindow4>
         <Mm>
@@ -990,7 +965,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

README.md

@@ -5,60 +5,19 @@ r1上层
 ## 外设
 
 + CAN1
-  + 扳机2006 id:0x201
+  - 扳机2006 id:0x205
-+ CAN2
+  - 三摩擦 id:123 
-  + 小米电机 id:1  
 + UART
-  + uart1 波特率4000000 id：2
+  - uart1 波特率4000000 id：2
-  + uart6 nuc
+  - uart6 nuc
-  + uart3 遥控器接收
+  - uart3 遥控器接收
 + GPIO
-  + PI6运球光电
+  - PI6运球光电 
-  + PE13 爪气缸
+  - PE11 运球气缸
-  + PE14 砸气缸
+
+
 
 ## 遥控器
 
-## 待解决
 
-+ 用了将运球和伸缩绑定到一起  √
-+ 串口收数加个滤波  √
 
-## 思路
-
-+ 👆 传球档           👆  配合档  
-+ 中  初始档           中  初始档
-+ 👇  发射档          👇  运球档
-+ 起步遥控档我直接蓄力准备接球  + 可多次的运球
-  + 缩回转移球
-  + 蓄力到位,收到掉落信号和已伸出信号
-  + 根据视觉拟合信息的动态调整
-  + 拨置👇发射清空掉落信号
-
-+ 用一个攻守方档
-  + 初始移动到最上面 更待蓄力(不管攻方守方都在最上面等待)
-  + 攻方时拨下立马蓄力并伸出(可小角度)
-  + 守方时不动并保持缩回
-  + 👇  运球档正常运球
-  + 中  初始档直接缩回
-  + 👆 配合档 完成配合并伸出才能发射
-
-+ 传球模式
-  + 自动
-    + 底盘的传球对准档拨下
-    + 我的蓄力进入传球拟合
-    + 继续拨下发射
-  + 手动
-    + 目前只能打固定距离
-      + 切相同传球档 自动蓄力到传球力度
-      + 发射档发射
-    + 图传多距离
-      + 传球档
-      + 旋钮+看图传点位调整
-
-+ 修复
-  + 6.29 发射误操作导致没有拟合作用就射了(已修复)
-  + 6.29 串口不稳定 重新拔插一下
-  + 6.29 nuc位置更新慢
-  + 6.29 添加光电上电保护防止跳尺(已添加)
-  

User/bsp/TopDefine.h

@@ -16,7 +16,7 @@
 #endif
 
 
-#define ONE_CONTROL 1
+#define ONE_CONTROL 0
 
 //是否使用大疆DT7遥控器
 #ifndef DT7

User/module/ball.cpp

@@ -315,6 +315,47 @@ void Ball::ballDown(void)
     }
 }
 
+// void Ball::Idle_control()
+// {
+//     HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
+//     HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);   // 确保下气缸关闭
+
+//     osThreadFlagsClear(EXTEND_OK);
+
+//     if (ready_key == SIDE) // 检测是否准备好
+//     {
+//         xiaomi.position = WAIT_POS;
+//         if (feedback->position_deg >= WAIT_POS - 3)
+//         {
+//             // 只在READY_TELL未置位时发送，防止重复
+//             if ((osThreadFlagsGet() & READY_TELL) == 0)
+//             {
+//                 osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
+//             }
+//         }
+//     }
+//     else
+//     {
+//         xiaomi.position = I_ANGLE; // 默认回到收回位置
+//     }
+
+//     // 拨杆回到中间挡位时，回位并重置状态机
+//     if (currentState1 == EXTEND_FINISH) // 转移后
+//     {
+//         xiaomi.position = I_ANGLE;
+//         currentState1 = BALL_IDLE;
+//     }
+//     if (currentState1 == BALL_FINISH) // 运球完成
+//     {
+//         xiaomi.position = O_ANGLE;
+//         currentState1 = BALL_IDLE;
+//     }
+//     else
+//     {
+//         currentState1 = BALL_IDLE;
+//     }
+//     // xiaomi.position = I_ANGLE;
+// }
 
 void Ball::Idle_control()
 {

User/module/gimbal.cpp

@@ -0,0 +1,113 @@
+#include "TopDefine.h"
+#include "gimbal.hpp"
+#include "remote_control.h"
+#include "calc_lib.h"
+#include "FreeRTOS.h"
+#include <cmsis_os2.h>
+
+#define KP 0.12
+#define KD 0.008
+//可活动角度
+#define ANGLE_ALLOW 1.0f
+extern RC_ctrl_t rc_ctrl;
+NUC_t nuc;
+
+const fp32 Gimbal:: Gimbal_speed_PID[3] = {50, 0.1,  0};
+const fp32 Gimbal:: Gimbal_angle_PID[3]=  { 5, 0.01, 0};
+
+#if GM6020ING ==1
+Gimbal::Gimbal()
+{
+  // GM6020_Motor = get_motor_point(6);
+  // GM6020_Motor->type = GM6020;
+  // PID_init(&speed_pid,PID_POSITION,Gimbal_speed_PID,16000, 6000);
+  // PID_init(&angle_pid,PID_POSITION,Gimbal_angle_PID,5000, 2000);
+
+  // result = 0;
+  // angleSet = 0;
+
+}
+
+void Gimbal::gimbalFlow()
+{
+  int16_t delta[1];
+  //angleSet = angle1;
+  delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
+  result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
+
+  CAN_cmd_1FF(0,0,result,0,&hcan1);
+  osDelay(1);
+
+}
+
+void Gimbal::gimbalZero()
+{
+  angleSet=0;
+  //gimbalFlow();
+
+}
+
+void Gimbal::gimbalVision(const NUC_t &nuc)
+{
+    int16_t delta[1];
+    angleSet = nuc.vision.x;
+    delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
+    result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
+
+    CAN_cmd_1FF(0,0,result,0,&hcan1);
+    osDelay(1);
+}
+
+
+
+#else
+Gimbal::Gimbal()
+{
+
+			Kp = KP;
+			Kd = KD;
+			allowRange = ANGLE_ALLOW;
+}   
+
+void Gimbal::gimbalInit(void)
+{
+		int i;
+    GO_M8010_init();
+    for(i = 0;i < GO_NUM;i ++)
+    {
+        goData[i] = getGoPoint(i);//获取电机数据指针
+
+        angleSet[i] = 0;
+        offestAngle[i] = 0;
+				GO_M8010_send_data(&huart6, i,0,0,0,0,0,0);
+				offestAngle[i] = goData[i]->Pos;
+				HAL_Delay(100);
+
+    }
+		
+}
+
+void Gimbal::gimbalFlow(void)
+{
+
+    //angleSet[0] = map_fp32((float)rc_ctrl.ch[3],-800.0f,800.0f,-allowRange,allowRange) + offestAngle[0];
+    GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
+		osDelay(1);
+
+
+}
+
+
+void Gimbal::gimbalZero(void)
+{
+  GO_M8010_send_data(&huart6, 0,0,0,0,0,0,0);
+}
+
+void Gimbal::gimbalVision(const NUC_t &nuc)
+{
+    angleSet[0] = nuc.vision.x;
+    GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
+    osDelay(1);
+}
+
+#endif

User/module/gimbal.hpp

@@ -0,0 +1,57 @@
+#ifndef GIMBAL_HPP
+#define GIMBAL_HPP
+
+#include "GO_M8010_6_Driver.h"
+#include "djiMotor.h"
+#include "pid.h"
+#include "nuc.h"
+
+class Gimbal
+{
+public:
+    Gimbal();
+    void gimbalFlow(void);//云台随遥控器转动
+    void gimbalZero(void);//云台零阻尼模式
+		void gimbalInit(void);//go初始化
+    void gimbalVision(const NUC_t &nuc); // 接收 NUC_t 数据
+
+    int16_t result;
+    //暂存要发送的扭矩
+    //float result[GO_NUM]; 
+//		float Kp;
+//		float Kd;
+private:
+
+#if GM6020ING == 1
+//GM6020电机数据
+ motor_measure_t *GM6020_Motor;
+
+ static const float Gimbal_speed_PID[3];
+ static const float Gimbal_angle_PID[3];
+
+  //电机速度pid结构体
+  pid_type_def speed_pid;
+  //位置环pid
+  pid_type_def angle_pid;
+
+  float angleSet;
+
+#else
+    motor_measure_t *motorData[GO_NUM];
+  //视觉发送的要调的角度
+    float self_angleSet;
+    GO_Motorfield* goData[GO_NUM];
+    //暂存目标位置
+    float angleSet[GO_NUM];
+    float offestAngle[GO_NUM];//go数据
+		float Kp;
+		float Kd;
+		float allowRange;
+
+#endif    
+};
+
+
+
+
+#endif

User/module/shoot.cpp

@@ -39,7 +39,7 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
 #define CHANEGE_POS -205
 #define GO_ERROR 1.0f
 #define Tigger_DO -10
-#define Tigger_ZERO 125
+#define Tigger_ZERO 115
 #define Tigger_ERROR 3
 
 float knob_increment;
@@ -171,9 +171,6 @@ int Shoot::GO_SendData(float pos, float limit)
 //     sw[5] 👆 200 👇1800
 // 左旋 sw[7] 200 --1800
 
-
-float and1=0.0f;
-
 void Shoot::rc_mode()
 {
     // 底部光电检测（假设0为到位，1为未到位，根据实际硬件调整）
@@ -225,44 +222,23 @@ void Shoot::rc_mode()
     {
         ready_key = DEFENSE;
     }
-    //400--640为1  730--860为2 900到1200为3档中间  1300--1500为4
-    if(rc_ctrl.sw[7]<=300)
-    {
-        and1=0.0f;
-    }
-    if(rc_ctrl.sw[7]>=400&&rc_ctrl.sw[7]<=640)
-    {
-        and1=-2.0f;
-    }
-    if(rc_ctrl.sw[7]>=730&&rc_ctrl.sw[7]<=860)
-    {
-        and1=-1.0f;
-    }
-    if(rc_ctrl.sw[7]>=900&&rc_ctrl.sw[7]<=1200)
-    {
-        and1=0.0f;
-    }
-    if(rc_ctrl.sw[7]>=1300&&rc_ctrl.sw[7]<=1500)
-    {
-        and1=1.0f;
-    }
 
-    // // 旋钮映射部分不变
+    // 旋钮映射部分不变
-    // const int knob_min = 200;
+    const int knob_min = 200;
-    // const int knob_max = 1800;
+    const int knob_max = 1800;
-    // const float map_min = 130.0f;
+    const float map_min = 130.0f;
-    // const float map_max = -60.0f;
+    const float map_max = -60.0f;
-    // int current_knob_value = rc_ctrl.sw[7];
+    int current_knob_value = rc_ctrl.sw[7];
-    // if (current_knob_value < knob_min)
+    if (current_knob_value < knob_min)
-    //     current_knob_value = knob_min;
+        current_knob_value = knob_min;
-    // if (current_knob_value > knob_max)
+    if (current_knob_value > knob_max)
-    //     current_knob_value = knob_max;
+        current_knob_value = knob_max;
-    // knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
+    knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
 }
 
 #if ONE_CONTROL == 0
 
-
+float and1=0.0f;
 void Shoot::shoot_control()
 {
 
@@ -273,8 +249,8 @@ void Shoot::shoot_control()
     {
     case VSION:
         //fire_pos = distance; // 视觉拟合的力
-         //fire_pos =shoot_fitting(distance)+and1;
+         fire_pos =shoot_fitting(distance)+and1;
-        fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+        //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
 
         switch (rc_key)
         {
@@ -439,6 +415,8 @@ void Shoot::RemoveError()
 
 #if ONE_CONTROL
 
+//float and1=-1.5f;
+float and1=0;
 float and2=0;
 
 void Shoot::shoot_control()
@@ -455,7 +433,7 @@ void Shoot::shoot_control()
         switch (mode_key)
         {
         case VSION:
-            fire_pos = shoot_fitting(distance)+and1; 
+            fire_pos = shoot_fitting(distance)+and1; // 视觉拟合的力
             //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
 
             switch (rc_key)
@@ -511,10 +489,11 @@ void Shoot::shoot_control()
             switch (rc_key)
             {
             case MIDDLE1:
-                fire_pos = shoot_fitting(distance)+and1;
+                fire_pos = pass_fitting(pass_distance)+and2;
                 if ((shoot_thread & READY_TELL) && !(shoot_thread & EXTEND_OK))
                 {
-                    ball_receive(); 
+                    // 只收到READY_TELL且未收到EXTEND_OK时，顶部蓄力流程
+                    ball_receive(); // ball_receive内部写go1.Pos
                 }
                 else if (shoot_thread & EXTEND_OK)
                 {
@@ -639,7 +618,7 @@ void Shoot ::ball_receive()
         break;
     case BAKC:
         control_pos = BOTTOM_POS;
-        limit_speed = 8.0f; // 慢速下来
+        limit_speed = TO_BOTTOM; // 慢速下来
         if (feedback.fd_gopos >= BOTTOM_POS - 1.0f && feedback.fd_gopos <= BOTTOM_POS + 1.0f)
         {
 

User/task/ballTask.cpp

@@ -8,7 +8,11 @@
 #include "vofa.h"
 extern RC_ctrl_t rc_ctrl;
 Ball ball;
+//float vofa[8];
 
+//检查光电
+int abc=0;
+int aaaa=146;
 
 extern int speedm;
 
@@ -28,10 +32,20 @@ void FunctionBall(void *argument)
 #ifdef DEBUG
      task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());  
 #endif          
+
+    //abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
+     abc=HAL_GPIO_ReadPin(BALL_GPIO_Port, BALL_Pin); // 0为到位
+
       ball.rc_mode(); // 遥控器模式  
     
       ball.ball_control(); // 控制球的动作    
 
+
+//    HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保爪气缸关闭
+//    HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);   // 确保下气缸关闭
+    // ball.xiaomi.position = aaaa; 
+    // CAN_XiaoMi(1,&ball.xiaomi,&hcan2);
+
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     osDelayUntil(tick);
     

User/task/gimbalTask.cpp

@@ -0,0 +1,47 @@
+#include "TopDefine.h"
+#include "FreeRTOS.h"
+#include "userTask.h"
+#include <cmsis_os2.h>
+#include "gimbalTask.hpp"
+#include "gimbal.hpp"
+#include "main.h"
+#include "remote_control.h"
+#include "nuc.h"
+Gimbal gimbal;
+// NUC_t nucData; // 用于存储从队列接收的数据
+extern RC_ctrl_t rc_ctrl;
+int cnt1=0;
+
+void FunctionGimbal(void *argument)
+{
+	(void)argument; /* 未使用argument，消除警告 */
+
+    const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
+	
+	HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
+
+	uint32_t tick = osKernelGetTickCount();
+
+	while(1)
+	{
+   #ifdef DEBUG
+		task_struct.stack_water_mark.gimbal = osThreadGetStackSpace(osThreadGetId());  
+   #endif 
+
+		//cnt1++;
+
+    //  gimbal.gimbalFlow();
+		// 从消息队列接收视觉数据
+		// if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
+		// {
+		// 	// 使用接收到的视觉数据调整云台
+		// 	//gimbal.gimbalVision(nucData);
+		// }
+			
+		osDelay(1);
+
+		tick += delay_tick; /* 计算下一个唤醒时刻 */
+        osDelayUntil(tick);
+	}
+}
+

User/task/gimbalTask.hpp

@@ -0,0 +1,5 @@
+#ifndef GIMBALTASK_HPP
+#define GIMBALTASK_HPP
+
+
+#endif

User/task/shootTask.cpp

@@ -10,7 +10,7 @@ extern RC_ctrl_t rc_ctrl;
 Shoot shoot;
 NUC_t nucData; // 自瞄
 
-
+int aaaxxx=0;
 
 void FunctionShoot(void *argument)
 {
@@ -35,6 +35,13 @@ while(1)
 
 	shoot.shoot_control();
 	
+//	shoot.t_posSet=aaaxxx;
+//	shoot.trigger_control();
+//  shoot.GO_SendData(goangle,5);
+//  shoot.shoot_control();
+//	shoot.t_posSet=goangle;
+//	shoot.trigger_control();
+
 	tick += delay_tick; /* 计算下一个唤醒时刻 */
 	osDelayUntil(tick);